Elevator inspection system with robotic platform configured to develop hoistway model data from sensor data

ABSTRACT

Disclosed is an elevator inspection system, having: a sensor implement; a robotic platform supporting the sensor, the robotic platform configured to inspect a hoistway; a controller operationally connected to the robotic platform and the sensor, wherein the controller is configured to define hoistway model data for the hoistway, from sensor data, corresponding to locations and shape boundaries of the hoistway and doorway openings formed in the hoistway.

BACKGROUND

Disclosed is an elevator inspection system and more specifically to anelevator inspection system with sensor implement supported by a robot orrobotic platform.

Manually mapping an elevator shaft for installation of an elevatorsystem can take an extensive amount of time and may be inexact.Similarly, manually inspecting an elevator shaft with an installedelevator system can also take an extensive amount of time and may beinexact. A solution is desired for reducing manual power required forthese activities.

BRIEF SUMMARY

Disclosed is an elevator inspection system, having: a sensor implement;a robotic platform supporting the sensor, the robotic platformconfigured to inspect a hoistway; a controller operationally connectedto the robotic platform and the sensor, wherein the controller isconfigured to define hoistway model data for the hoistway, from sensordata, corresponding to locations and shape boundaries of the hoistwayand doorway openings formed in the hoistway.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to define athree-dimensional hoistway model from the hoistway model data.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to utilize thehoistway model data as a reference point for installing and/ormaintaining one or more components in the hoistway.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to define elevatorcar guide rail data, corresponding to a virtual elevator guide rail, inthe hoistway model data.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to determine, fromthe hoistway model data, sill to sill distances, guide rail to guiderail distances, and sill to guide rail distances for each of the doorwayopenings.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to determine, fromthe hoistway model data, tilt and twist of the hoistway, locations andsizes of doorway openings.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to defineinstallation locations within the hoistway model data for elevatorcomponents.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to control movementof the robotic platform in an hoistway, wherein the controller isoperated manually, on SLAM (simultaneous localization and mapping),and/or on CAD (computer aided design) models.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the sensor implement is one or more of a videosensor; an acoustic sensor; a LIDAR sensor; a camera; a laser sensor, aphotogrammetry sensor, and a time of flight sensor.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the robotic platform is a drone.

Further disclosed is a method of developing hoistway model data for ahoistway, including defining, by a controller, the hoistway model datafor the hoistway, from sensor data, corresponding to locations and shapeboundaries of the elevator hoistway shaft and doorway openings formed inthe elevator hoistway shaft, wherein the sensor data is captured from asensor implement that is supported by a robotic platform, wherein therobotic platform is configured to inspect the hoistway, and wherein thecontroller controls the robotic platform and the sensor implement.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes defining, by the controller,a three-dimensional hoistway model from the hoistway model data.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes utilizing, by the controller,the hoistway model data as a reference point for installing and/ormaintaining one or more components in the hoistway.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes defining, by the controller,elevator car guide rail data, corresponding to a virtual elevator guiderail, in the hoistway model data.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes determining, by thecontroller from the hoistway model data, sill to sill distances, guiderail to guide rail distances, and sill to guide rail distances for eachof the doorway openings.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes determining, by thecontroller from the hoistway model data, tilt and twist of the hoistway,locations and sizes of doorway openings.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes defining, by the controller,installation locations within the hoistway model data for elevatorcomponents, including the virtual guide rail.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes controlling, by thecontroller, movement of the robotic platform in the hoistway, where thecontroller is operated manually, on SLAM (simultaneous localization andmapping), and/or on CAD (computer aided design) models

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the sensor implement is one or more of a videosensor; an acoustic sensor; a LIDAR sensor; a camera; a laser sensor, aphotogrammetry sensor, and a time of flight sensor.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the robotic platform is a drone.

Further disclosed is an elevator inspection system, having: a sensorimplement; a robotic platform supporting the sensor implement, therobotic platform configured to inspect a hoistway; and a controlleroperationally connected to the robotic platform and the sensorimplement, wherein the controller is configured to define hoistway modeldata, for the hoistway, from maintenance and performance data collectedfrom disparately located elevator systems connected to communicate overa network.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to define thehoistway model data from maintenance and performance data collected overthe Internet and utilize cloud computing for analytics.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to identifymaintenance and performance trends from the collected maintenance andperformance data.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to define thehoistway model data to include, for an elevator car in the hoistway, oneor more of: maintenance needs; ride quality; a motion profile; and doorperformance.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to determining afrequency of monitoring the hoistway from the hoistway model data.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to determine tosubstantially continuously monitor the hoistway from the hoistway modeldata.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to further definethe hoistway model data from sensed locations and shape boundaries ofthe hoistway and doorway openings formed in the hoistway.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to define thehoistway model data to include sill to sill distances, guide rail toguide rail distances, sill to guide rail distances, and tilt and twistof the hoistway.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to utilize thehoistway model data as a reference point for installing and/ormaintaining one or more components in the hoistway.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to transmit an alertupon identifying, from sensor data compared with hoistway model data,when a component of an elevator system installed in the hoistway ispositioned or operating outside of predetermined positioning andoperating tolerances.

Further disclosed is a method of determining whether components of anelevator system are positioned and operating within predeterminedpositioning and operating tolerances, including: defining, by acontroller, hoistway model data, for a hoistway, from maintenance andperformance data collected from disparately located elevator systemsconnected to communicate over a network, wherein the controller isoperationally connected to a robotic platform supporting a sensorimplement, and wherein the robotic platform configured to inspect thehoistway.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes defining, by the controller,the hoistway model data from maintenance and performance data collectedover the Internet and utilizing cloud computing for analytics.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes identifying, by thecontroller, maintenance and performance trends from the collectedmaintenance and performance data.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes defining, by the controller,the hoistway model data to include, for an elevator car in the hoistway,one or more of: maintenance needs; ride quality; a motion profile; anddoor performance.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes determining, by thecontroller, a frequency of monitoring the hoistway from the hoistwaymodel data.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes determining, by thecontroller, to substantially continuously monitor the hoistway from thehoistway model data.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes further defining, by thecontroller, the hoistway model data from sensed locations and shapeboundaries of the hoistway and doorway openings formed in the hoistway.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes defining, by the controller,the hoistway model data to include sill to sill distances, guide rail toguide rail distances, sill to guide rail distances, and tilt and twistof the hoistway.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes utilizing, by the controller,the hoistway model data as a reference point for installing and/ormaintaining one or more components in the hoistway.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes transmitting, by thecontroller, an alert upon identifying, from sensor data compared withhoistway model data, when a component of an elevator system installed inthe hoistway is positioned or operating outside of predeterminedpositioning and operating tolerances.

Further disclosed is an elevator inspection system, having: a sensorimplement; a robotic platform, which is portable, supporting the sensorimplement, the robotic platform configured for inspecting and performingmaintenance in a hoistway; a controller operationally connected to therobotic platform and the sensor implement, wherein the controller isconfigured to: control movement of the robotic platform within ahoistway; and inspect one or more components in the hoistway todetermine, from sensor data compared with hoistway model data, that anoperational parameter or an alignment of the one or more components isoutside predetermined positioning and operating tolerances.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to utilize thehoistway model data as a reference point for installing and/ormaintaining one or more components in the hoistway.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to control therobotic platform to execute one or more of guide rail realignment;rope/belt inspection; ride quality tests; door couple alignmentinspection; door switch test; and sill cleaning, to thereby determinethat the operational parameter or the alignment of the component isoutside predetermined positioning and operating tolerances.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to determine acurrent position of the component relative to global positioning system(GPS) data.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to engage a segmentof an elevator guide rail of the hoistway shaft, to position the segmentwithin predetermined positioning and operating tolerances, upondetermining, from sensor data compared with hoistway model data, thatthe segment is positioned outside the predetermined positioning andoperating tolerances

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to engage the guiderail by loosening rail securing bolts, aligning the guide rail, andtightening rail securing bolts.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to, periodically orwithin scheduled timeframes, engage the one or more components todetermine that the operational parameter or the alignment of thecomponent is outside predetermined positioning and operating tolerances.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to define thehoistway model data from sensed locations and shape boundaries of thehoistway shaft and doorway openings formed in the hoistway shaft.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to define thehoistway model data to include sill to sill distances, guide rail toguide rail distances, sill to guide rail distances, and tilt and twistof the hoistway.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to define thehoistway model data as a three-dimensional model of the hoistway.

Further disclosed is a method of performing maintenance within ahoistway, including: controlling, by a controller, movement of a roboticplatform within the hoistway; and inspecting, by the controller, one ormore components in the hoistway to determine, from sensor data comparedwith hoistway model data, that an operational parameter or an alignmentof the one or more components is outside predetermined positioning andoperating tolerances, wherein the robotic platform is configured toinspect and perform maintenance in the hoistway, and wherein thecontroller is operationally connected to the robotic platform and asensor implement supported by the robotic platform, and wherein thesensor implement is configured to capture the sensor data.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes utilizing, by the controller,the hoistway model data as a reference point for installing and/ormaintaining one or more components in the hoistway.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes controlling, by thecontroller, the robotic platform to execute one or more of: guide railrealignment; rope/belt inspection; ride quality tests; door couplealignment inspection; door switch test; and sill cleaning, to therebydetermine that the operational parameter or the alignment of thecomponent is outside predetermined positioning and operating tolerances.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes determining, by thecontroller, a current position of the component relative to globalpositioning system (GPS) data.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes engaging, by the controller,a segment of an elevator guide rail of the hoistway shaft, to positionthe segment within predetermined positioning and operating tolerances,upon determining, from sensor data compared with hoistway model data,that the segment is positioned outside the predetermined positioning andoperating tolerances

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes engaging, by the controller,the guide rail by loosening rail securing bolts, aligning the guiderail, and tightening rail securing bolts.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes engaging, by the controllerperiodically or within scheduled timeframes, the one or more componentsto determine that the operational parameter or the alignment of thecomponent is outside predetermined positioning and operating tolerances.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes defining, by the controller,the hoistway model data from sensed locations and shape boundaries ofthe hoistway shaft and doorway openings formed in the hoistway shaft.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes defining, by the controller,the hoistway model data to include sill to sill distances, guide rail toguide rail distances, sill to guide rail distances, and tilt and twistof the hoistway.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes defining, by the controller,the hoistway model data as a three-dimensional model of the hoistway.

Further disclosed is an elevator inspection system, the system having: arobotic platform configured to inspect a hoistway; a platform propulsoroperationally connected to the robotic platform; and a controlleroperationally connected to the platform propulsor, wherein thecontroller is configured to control the platform propulsor to propel therobotic platform vertically within the hoistway.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to control frictionpullies operationally connected between the robotic platform and a ropeextending to a mechanical room atop the hoistway, to thereby propel therobotic platform.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to control vacuumsuction cups operationally connected between the robotic platform andhoistway side walls, to thereby propel the robotic platform.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured control rubberwheels operationally connected between the robotic platform and hoistwayside walls, to thereby propel the robotic platform.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured control mechanicallegs operationally connected between the robotic platform and hoistwayside walls, to thereby propel the robotic platform.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to controlpropellers operationally connected to the robotic platform, wherein therobotic platform is supported by a balloon, to thereby propel therobotic platform.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to control a railclimber operationally connected to the robotic platform, to therebypropel the robotic platform.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to control a railclimber operationally connected to the robotic platform, where the railclimber operationally engages a first rail that is adjacent a firsthoistway sidewall, and a balance wheel of the rail climber isoperationally positioned against a second hoistway side wall, to therebypropel the robotic platform

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to control a dronethat is, or is operationally connected to, the robotic platform, tothereby propel the robotic platform.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to control one ormore controllable tools supported on the robotic platform, whereby therobotic platform is configured for scanning and inspecting the hoistway,taking measurements, grinding, marking drilling points and drilling.

Further disclosed is a method of propelling a robotic platform within ahoistway, including: controlling, by a controller, a platform propulsorto propel the robotic platform vertically within the hoistway, whereinthe robotic platform configured to inspect the hoistway, the platformpropulsor is operationally connected to the robotic platform, and thecontroller is operationally connected to the platform propulsor.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes controlling, by thecontroller, friction pullies operationally connected between the roboticplatform and a rope extending to a mechanical room atop the hoistway, tothereby propel the robotic platform.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes controlling, by thecontroller, vacuum suction cups operationally connected between therobotic platform and hoistway side walls, to thereby propel the roboticplatform.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes controlling, by thecontroller, rubber wheels operationally connected between the roboticplatform and hoistway side walls, to thereby propel the roboticplatform.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes controlling, by thecontroller, mechanical legs operationally connected between the roboticplatform and hoistway side walls, to thereby propel the roboticplatform.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes controlling, by thecontroller, propellers operationally connected to the robotic platform,wherein the robotic platform is supported by a balloon, to therebypropel the robotic platform.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes controlling, by thecontroller, a rail climber operationally connected to the roboticplatform, to thereby propel the robotic platform.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes controlling, by thecontroller, a rail climber operationally connected to the roboticplatform, where the rail climber operationally engages a first rail thatis adjacent a first hoistway sidewall, and a balance wheel of the railclimber is operationally positioned against a second hoistway side wall,to thereby propel the robotic platform

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes controlling, by thecontroller, a drone that is, or is operationally connected to, therobotic platform, to thereby propel the robotic platform.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes controlling, by thecontroller, one or more controllable tools supported on the roboticplatform, whereby the robotic platform is configured for scanning andinspecting the hoistway, taking measurements, grinding, marking drillingpoints and drilling.

Further disclosed is an elevator inspection system, configured toinspect multiple elevator cars in a group of elevator cars, the systemhaving: a sensor implement; a robot supporting the sensor implement; anda controller operationally connected to the robot and the senor, whereinthe controller is configured to transmit an alert responsive todetermining, from sensor data compared with elevator operational data,that an operational parameter of an elevator car in which the robot islocated is outside a predetermined threshold.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to determine whetherride-quality is outside the predetermined threshold, to therebydetermine that the operational parameter is outside the predeterminedthreshold.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to determine whetheracceleration is outside the predetermined threshold, to therebydetermine that the ride-quality is outside the predetermined threshold.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to determine whetheroperational acoustics are outside the predetermined threshold, tothereby determine that the ride-quality is outside the predeterminedthreshold.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to communicate withan elevator car control panel, to thereby determine that the operationalparameter is outside the predetermined threshold.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to instruct theelevator car control panel to execute one or more of runs betweenlevels, emergency stops, and open/close door cycles, to therebydetermine that the operational parameter is outside the predeterminedthreshold.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to: verify operationof COP lights; confirm elevator car leveling accuracy; clean theelevator car via the robot; and/or change elevator car controllersettings to minimize effects of a bed quality of a ride.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured communicate with theelevator car control panel over a wireless network.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller is configured to control thesensor implement to obtain the sensor data during predetermined periodsof time and/or when the elevator car is without passengers.

In addition, or as an alternate, to one or more of the above disclosedaspects of the system, the controller, which is onboard the robot, isconfigured to transmit the alert to an elevator group controller over acellular network.

Further disclosed is a method of performing an elevator operationalinspection with a robot, including: transmitting, by a controller, analert responsive to determining, from sensor data compared with elevatoroperational data, that an operational parameter of an elevator car inwhich the robot is located is outside a predetermined threshold, whereinthe controller is operationally connected to the robot and a senorimplement supported by the robot, and wherein the controller isconfigured to control the sensor implement to obtain the sensor data.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes determining, by thecontroller, whether ride-quality is outside the predetermined threshold,to thereby determine that the operational parameter is outside thepredetermined threshold.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes determining, by thecontroller, whether acceleration is outside the predetermined threshold,to thereby determine that the ride-quality is outside the predeterminedthreshold.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes determining, by thecontroller, whether operational acoustics are outside the predeterminedthreshold, to thereby determine that the ride-quality is outside thepredetermined threshold.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes communicating, by thecontroller, with an elevator car control panel, to thereby determinethat the operational parameter is outside the predetermined threshold.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes instructing, by thecontroller, the elevator car control panel to execute one or more ofruns between levels, emergency stops, and open/close door cycles, tothereby determine that the operational parameter is outside thepredetermined threshold.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes verifying, by the controller,operation of COP lights; confirming, by the controller, elevator carleveling accuracy; clean, by the controller via the robot, the elevatorcar; and/or changing, by the controller, elevator car controllersettings to minimize effects of a bed quality of a ride.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes communicating, by thecontroller, with the elevator car control panel over a wireless network.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes controlling, by thecontroller, the sensor implement to obtain the sensor data duringpredetermined periods of time and/or when the elevator car is withoutpassengers.

In addition, or as an alternate, to one or more of the above disclosedaspects of the method, the method includes transmitting, by thecontroller, which is onboard the robot, the alert to an elevator groupcontroller over a cellular network.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure is illustrated by way of example and not limitedin the accompanying figures in which like reference numerals indicatesimilar elements.

FIG. 1 is a schematic illustration of an elevator system that may employvarious embodiments of the present disclosure;

FIG. 2 shows a robotic platform in a hoistway to develop a model for aninstallation;

FIG. 3 is a closeup of the robotic platform in the hoistway;

FIG. 4 shows additional aspects of a robotic platform in a hoistway todevelop a model for an installation;

FIG. 5 is a flowchart showing a method of developing hoistway model datafor the hoistway;

FIG. 6 is a flowchart shows a method of determining whether componentsof an installed elevator system are operating within predeterminedpositional tolerances based on the utilization of datasets, e.g.,collected over the internet;

FIG. 7 shows a robotic platform for engaging an elevator guide rail thatis positioned out of tolerances, wherein the robotic platform is locatedat a bottom of the hoistway;

FIG. 8 shows a robotic platform for engaging an elevator guide rail thatis positioned out of tolerances, wherein the robotic platform is locatedmidway along a height of the hoistway;

FIG. 9 shows a robotic platform for engaging an elevator guide rail thatis positioned out of tolerances, wherein the robotic platform is locatedmidway along a height of the hoistway;

FIG. 10 is a flowchart showing a method of performing maintenance in ahoistway;

FIG. 11 shows a platform propulsor formed as controllable frictionpullies;

FIG. 12 shows a platform propulsor formed as controllable vacuum suctioncups;

FIG. 13 shows a platform propulsor formed as controllable rubber wheels;

FIG. 14 shows a platform propulsor formed as controllable mechanicallegs;

FIG. 15 shows a platform propulsor formed as controllable propellers,wherein the robotic platform is supported with a balloon;

FIG. 16 shows a platform propulsor formed as a rail climber;

FIG. 17 shows a platform propulsor formed as a rail clamber configuredwith a balance wheel;

FIG. 18 shows a platform propulsor formed as a drone;

FIG. 19 is a flowchart showing a method of propelling a robotic platformin a hoistway;

FIG. 20 shows an inspection robot for an elevator system; and

FIG. 21 is a flowchart showing a method of performing an elevatoroperational inspection with a mobile robot.

DETAILED DESCRIPTION

FIG. 1 is a perspective view of an elevator system 101 including anelevator car 103, a counterweight 105, a tension member 107, a guiderail 109, a machine 111, a position reference system 113, and acontroller 115. The elevator car 103 and counterweight 105 are connectedto each other by the tension member 107. The tension member 107 mayinclude or be configured as, for example, ropes, steel cables, and/orcoated-steel belts. The counterweight 105 is configured to balance aload of the elevator car 103 and is configured to facilitate movement ofthe elevator car 103 concurrently and in an opposite direction withrespect to the counterweight 105 within an (elevator shaft) hoistway 117and along the guide rail 109.

The tension member 107 engages the machine 111, which is part of anoverhead structure of the elevator system 101. The machine 111 isconfigured to control movement between the elevator car 103 and thecounterweight 105. The position reference system 113 may be mounted on afixed part at the top of the hoistway 117, such as on a support or guiderail, and may be configured to provide position signals related to aposition of the elevator car 103 within the hoistway 117. In otherembodiments, the position reference system 113 may be directly mountedto a moving component of the machine 111, or may be located in otherpositions and/or configurations as known in the art. The positionreference system 113 can be any device or mechanism for monitoring aposition of an elevator car and/or counter weight, as known in the art.For example, without limitation, the position reference system 113 canbe an encoder, sensor implement, or other system and can includevelocity sensing, absolute position sensing, etc., as will beappreciated by those of skill in the art.

The controller 115 is located, as shown, in a controller room 121 of thehoistway 117 and is configured to control the operation of the elevatorsystem 101, and particularly the elevator car 103. For example, thecontroller 115 may provide drive signals to the machine 111 to controlthe acceleration, deceleration, leveling, stopping, etc. of the elevatorcar 103. The controller 115 may also be configured to receive positionsignals from the position reference system 113 or any other desiredposition reference device. When moving up or down within the hoistway117 along guide rail 109, the elevator car 103 may stop at one or morelandings 125 as controlled by the controller 115. Although shown in acontroller room 121, those of skill in the art will appreciate that thecontroller 115 can be located and/or configured in other locations orpositions within the elevator system 101. In one embodiment, thecontroller may be located remotely or in the cloud.

The machine 111 may include a motor or similar driving mechanism. Inaccordance with embodiments of the disclosure, the machine 111 isconfigured to include an electrically driven motor. The power supply forthe motor may be any power source, including a power grid, which, incombination with other components, is supplied to the motor. The machine111 may include a traction sheave that imparts force to tension member107 to move the elevator car 103 within hoistway 117.

Although shown and described with a roping system including tensionmember 107, elevator systems that employ other methods and mechanisms ofmoving an elevator car within an elevator shaft may employ embodimentsof the present disclosure. For example, embodiments may be employed inropeless elevator systems using a linear motor to impart motion to anelevator car. Embodiments may also be employed in ropeless elevatorsystems using a hydraulic lift to impart motion to an elevator car. FIG.1 is merely a non-limiting example presented for illustrative andexplanatory purposes.

The following figures illustrate additional technical featuresassociated with one or more disclosed embodiments. Features disclosed inthe following figures having nomenclature similar to features disclosedin FIG. 1 may be similarly construed though being positivelyreintroduced with numerical identifiers that may differ from those inFIG. 1 . Further, process steps disclosed hereinafter may besequentially numbered to facilitate discussion of one or more disclosedembodiments. Such numbering is not intended to identify a specificsequence of performing such steps or a specific requirement to performsuch steps unless expressly indicated.

Turning to FIGS. 2-4 , an elevator inspection system (inspection system)200 is shown, which may be utilized to install an elevator system in ahoistway 117. The inspection system 200 provides high precision over anentire height (or length) of the hoistway 117. The inspection system 200includes a position reference system that is able to precisely identifyheight and also twist (or rotation) and tilt (or bend) of the hoistway117. The inspection system 200 includes a sensor implement 210 (or morethan one sensor implement 210, including peripheral and onboard sensorimplements, etc.) that enables a definition of a reliable referencepoint, which is beneficial for robotic systems, for defining hoistwaydata, which may represent a three-dimensional (3D) hoistway model (e.g.,a virtual model). The hoistway data may function as reference data forinstalling, upgrading, maintaining, and/or inspecting an elevatorsystem.

The inspection system 200 includes a robotic platform 220, which canmove along the hoistway 117. The hoistway data may be embedded inelectronics stored in a platform controller (controller) 230 that isonboard the robotic platform 220. The reference system may be an earlierdefined map of the hoistway 117, serving as a reference point.Alternatively, the controller 230 may utilize software, such as acomputer aided engineering or design (CAE or CAD) software to define amap as it travels, using laser (which may utilize one, two or threedimensional scanning), camera, or acoustic sensor. The inspection system200 may allow for identifying height, sill to sill, rail to door, railto rail, wall to wall measurements. Collected data may be used forinstallation, inspection or service. With the utilization of a highprecision position robot, robotic platforms may be equipped with powertools and perform precision tasks.

Benefits of the disclosed embodiments includes a decreased time tomarket for an elevator system, freeing time for a mechanic, providing acompetitive advantage based on a quickly and precisely installedelevator system, increased precision of an installation, an extendedproduct life time, and an increased installation quality and an improvedride quality.

In FIGS. 2-3 , the robotic platform 220 is a drone and in FIG. 4 therobotic platform 220 is shown as supporting a robotic arm 250. Herein,reference to one form of the robotic platform (or robotic arm) is notintended on limiting the type of robotic platform (or robotic arm)utilized for the inspection system 200. The robotic platform 220 may beequipped with the sensor implement 210, suitable for reference andscanning operations, including but not limited to a stereovision camera,an acoustic sensor, a LIDAR (light and radar detection) sensor, aphotogrammetry sensor, a laser sensor, which allow for the build of asubstantially complete three dimensional image of the hoistway 117.Hoistway measurements for the hoistway data are obtained from theinspection system 200 within the hoistway. The measurements include railto rail, door width, hoistway depth and width, rail to rail, etc., whichwould otherwise be performed manually for each landing in the hoistway.

Further, an elevator mechanic may desire to receive hoistwaymeasurements from a general contractor to check whether the installedelevator system 101 is built and maintained according to predeterminedspecifications. The hoistway model, which may have been developed beforean initial install of the elevator system 101, may function as areference system that virtually marks installation locations forsubstantially each component in the hoistway 117. The hoistway model maybe utilized for identifying skew (twist/tilt) in the hoistway 117, anddamage to the hoistway 117, which is not readily attainable from manualdiscrete landing measurements.

According to an embodiment, the inspection system 200 may be utilized indifferent applications for elevator installation and subsequent service.The disclosed application may be beneficial for time and cost savingwhich may lead to higher field efficiency. Measurements taken by theinspection system 200 include, as indicated, a three dimensional modelshowing tilt, twist, and/or deformation (e.g., defects in the structure)of the hoistway, guide rail to guide rail measurements, guide rail tosill measurements, sill to sill measurements, etc. The measurementsprovide a reference to specific landing and global reference points. Therobotic platform 220 may be stationary (for example, located in ahoistway pit 225 or on a landing) or may move in the hoistway 117.

Benefits of the disclosed embodiments include a reduced field time for amechanic to discover and address issues during and subsequent toinstallation, thereby providing a competitive advantage, along with anincreased precision of an elevator car 103 and an extended product lifetime. System performance tracking is also enhanced. A global data basefor condition based monitoring (CBM) and predictive maintenance may alsobe performed. The reference system defined by the hoistway model, and aglobal data base (discussed in greater detail below), may allow forprecise installation of the equipment in the hoistway 117. The roboticplatform 220 may be used to map the hoistway 117 with higher resolutionthan can be obtained by individual, discrete landing measurement. Thedisclosed system may allow for the use advance automation commercial offthe shelf solutions such as robotic arms.

Thus, as indicated (FIGS. 2-4 ), the elevator inspection system includesthe sensor implement 210 and the robotic platform 220 supporting thesensor implement 210, where the robotic platform 220 is configured toinspect the hoistway 117. The controller 230 is operationally connectedto the robotic platform 220 and the sensor implement 210. In oneembodiment the sensor implement 210 is a video sensor and/or acousticsensor. In one embodiment the robotic platform 220 is a drone.

Turning to FIG. 5 , a method is disclosed for developing hoistway modeldata for a hoistway 117. The hoistway 117 may not yet include anelevator system (elevator car 103, guide rail 109, etc.), and thehoistway model may be utilized for the installation process.Alternatively the hoistway 117 may include elevator system (elevator car103, guide rail 109, etc.), and the hoistway model may be utilized forthe inspection and maintenance.

As shown in block 510 the method includes the controller 230 defininghoistway model data for the hoistway 117, from sensor data,corresponding to locations and shape boundaries of the hoistway 117 anddoorway openings (at various levels) formed in the hoistway 117.

As shown in block 510A the method includes the controller 230 defining athree-dimensional hoistway model from the hoistway model data.

As shown in block 510B, the method includes the controller 230 utilizingthe hoistway model data as a reference point for installing and/ormaintaining one or more components in the hoistway.

As shown in block 510C the method includes the controller 230 definingelevator car guide rail data, corresponding to a virtual elevator guiderail 109, in the hoistway model data. That is, in conditions where theelevator system is not yet installed, the model will include a virtualelevator guide rail at a location where the actual elevator guide rail109 is to be installed.

As shown in block 520, the method includes controller 230 determining,from the hoistway model data, sill to sill distances, guide rail toguide rail distances, and sill to guide rail distances for each of thedoorway openings.

As shown in block 520A, the method includes the controller 230determining, from the hoistway model data, tilt and twist of thehoistway 117, locations and sizes of doorway openings.

As shown in block 530, the method includes the controller 230 defining(e.g., marking) installation locations within the hoistway model datafor elevator components, including the virtual guide rail.

According to some embodiments the model comprises a 3 dimensional modelrepresentation of the hoistway. The model may also comprise a CAD modelor a video rendering of the hoistway. In additional embodiments themodel may comprise a rendering of the elevator components including alisting of components for the elevator installation.

As shown in block 540, the method includes the controller controllingmovement of the robotic platform 220 in the hoistway 117, where thecontroller is operated manually, on SLAM (simultaneous localization andmapping), and/or on CAD models. As indicated above, in some embodimentsthe robotic platform 220 is stationary.

According to an additional aspect of the disclosed embodiments, in thegrowing market of internet of things (IoT), data is a valuable asset.Having easy-to-access information on system performance and operationalparameters and a system that can self-diagnose adds value to the field.Additionally, historic performance data, trends and patterns from testsperformed on elevator systems locally, regionally and globally may beutilized to monitor quality and service performance of an elevatorsystem.

Thus, utilizing the inspection system 200, different types ofmeasurements can be collected to capture a set of variables that definessystem operational performance in different operational stages of theelevator system 101. Such measurements include, for example,straightness of the hoistway 117, landing to landing (sill to sill)measurements, a three dimensional model of hoistway 117, guide rail toguide rail 109, 109A (FIG. 4 ) measurements, and wall to wall 228, 228A,measurements. Collecting this data allows for significant time savingsin the field. Maintenance, ride quality, motion profile, doorperformance, amount of light in the car, cabin operation panel (COP)buttons, may all be monitored and maintained based on recorded data.Constant or periodic monitoring of system performance without a need ofan onsite mechanic may allow for cost savings and for marketing newproducts.

Benefits of the utilizing data as described herein is a decreased timeto market, freeing mechanic time, providing a competitive advantage dueto decreased costs on manpower, increased precision, increased mechanicsafety. The embodiments enable building a digital data base of globalmeasurements, will improve design approaches and enable new products andservices.

Thus, as indicated (FIGS. 2-4 ), the inspection system 200 includes thesensor implement 210, the robotic platform 220 supporting the sensorimplement 210, and a controller 230 operationally connected to therobotic platform 220 and the sensor implement 210. The sensor implement210 may be one or more of a video sensor; an acoustic sensor; a LIDAR(light and radar) sensor; a camera; a laser sensor, a photogrammetrysensor, and a time of flight sensor. As indicated the robotic platform220 is configured for inspecting the hoistway 117.

Turning to FIG. 6 , a flowchart shows a method of determining whethercomponents of an installed elevator system 101 are positioned andoperating within predetermined positioning and operating tolerancesbased on the utilization of datasets, e.g., collected over the internet.

As shown in block 610, the method includes the controller 230 defininghoistway model data for the hoistway 117, from maintenance andperformance data collected from disparately located elevator systemsconnected to communicate over a network. The hoistway model data may beutilized to build a virtual model for a new installation of an elevatorsystem.

As shown in block 610A, the method includes the controller 230 definingthe hoistway model data from maintenance and performance data collectedover the Internet.

As shown in block 610B, the method includes the controller 230identifying maintenance and performance trends from the collectedmaintenance and performance data.

As shown in block 610C the method includes the controller 230 definingthe hoistway model data to identify, for an elevator car 103 in thehoistway 117, one or more of: maintenance needs; ride quality; a motionprofile; and door performance requirements.

As shown in block 620, the method includes the controller 230determining a frequency of monitoring the hoistway 117 from the hoistwaymodel data.

As shown in block 620A, the method includes the controller determiningto substantially continuously monitor the hoistway 117 from the hoistwaymodel data.

As shown in block 630, the method includes the controller 230 furtherdefining the hoistway model data from sensed locations and shapeboundaries of the hoistway 117 and doorway openings formed in thehoistway 117.

As shown in block 630A, the method includes the controller 230 definingthe hoistway model data to include sill to sill distances, guide rail toguide rail distances, sill to guide rail distances, and tilt and twistof the hoistway. In one embodiment the hoistway model data defines athree-dimensional model of the hoistway 117.

As shown in block 630B, the method includes the controller 230 utilizingthe hoistway model data as a reference point for installing and/ormaintaining one or more components in the hoistway.

As shown in block 640, the method includes the controller 230transmitting an alert upon identifying, from sensor data compared withhoistway model data, when a component of an elevator system installed inthe hoistway 117 is positioned or operating outside of predeterminedpositioning and operating tolerances. In one embodiment the component isthe guide rail 109.

According to another aspect of the disclosed embodiments, precisehoistway measurements are important for maintenance purposes. Mechanicsmay receive a hoistway assignment from a general contractor and check ifcomponents in the hoistway 117 are installed and/or operating accordingto specifications. If the mechanic builds a reference system and marksinstallation locations for each component in the hoistway, the mechanicmay not realize from this process whether there is hoistway skew.

The disclosed embodiments provide measurement applications of therobotic platform 220 with the utilization of a reference system for anelevator installation and subsequent service. Described utilizations arebeneficial for time and cost saving which leads to higher fieldefficiency.

Turning to FIGS. 7-9 , as one example, maintenance of a guide railrequiring realignment is shown. Such maintenance may include looseningbolts, aligning the guide rail 109, and then tightening the bolts. Otherexamples may include rope/belt inspections and maintenance, periodic andscheduled ride quality tests, door coupler alignment, door switch testsand sill cleaning. The robotic platform 220 is assigned/mounted in thehoistway 117, or, e.g., a portable device is provided that may beinstalled in the hoistway 117, e.g., on the rail(s). In an alternateembodiment the robotic arm 250 may be mounted to the top of an elevatorcar.

Benefits of the disclosed embodiments is a field time reduction formechanics, improved safety for the mechanics as robotic platforms may beutilized in relatively dangerous locations, a competitive advantagebased on fewer mechanic hours needed for maintenance, an increasedprecision and an extended product life time for the elevator system. Inaddition, system performance tracking is available as well as a globaldata base for CBM and predictive maintenance.

For example in FIG. 7 , the robotic platform 220 is controlled to looseneach the guide rail 109 and adjust and tighten each guide rail 109, asthe robotic platform 220 moves heightwise along the hoistway 117. Duringthis process, the robotic platform 220 may make test runs on each guiderail 109 to verify the adjustment using the sensor implement 210, whichmay be one or more onboard ride quality sensor implements. Themaintenance process may be repeated if needed on a full length of eachguide rail 109, or the maintenance process may be performed along adiscrete section of each guide rail 109.

The robotic platform 220 may be fully autonomous or may be provided withmechanic support. Other applications of the maintenance process mayinclude hoistway door service, rope inspection and door couplersalignment. A robotic arm 250 (FIGS. 7-9 ) is supported on the roboticplatform 220 one non-limiting example. However the robotic platform 220may be adjusted to the task and may have a set of tools that can bechanged.

As indicated (FIGS. 2-5 and 7-9 ), the elevator inspection systemincludes a sensor implement 210, a robotic platform 220, which isportable, supporting the sensor implement 210, and a controlleroperationally connected to the robotic platform 220 and the sensorimplement 210. As indicated the robotic platform 220 is configured forinspecting and performing maintenance in the hoistway 117.

Turning to FIG. 10 , a flowchart shows a method of performingmaintenance within a hoistway 117.

As shown in block 1010, the method includes the controller 230controlling movement of the robotic platform 220 within the hoistway117.

As shown in block 1020, the method includes the controller 230inspecting one or more components in the hoistway 117 to determine, fromsensor data compared with hoistway model data, that an operationalparameter or an alignment of the one or more components is outsidepredetermined positioning and operating tolerances. Such toleranceswould be appreciated by one of ordinary skill.

As shown in block 1020A, the method includes the controller 230utilizing the hoistway model data as a reference point for installingand/or maintaining one or more components in the hoistway.

As shown in block 1030, the method includes the controller 230controlling the robotic platform 220 to execute one or more of guiderail realignment; rope/belt inspection; ride quality tests; door couplealignment inspection; door switch test; and sill cleaning, to therebydetermine that the operational parameter or the alignment of thecomponent is outside predetermined positioning and operating tolerances.

As shown in block 1030A, the method includes the controller 230 engaginga segment 245 of an elevator guide rail 109 of the hoistway 117, toposition the segment 245 within predetermined positioning and operatingtolerances, upon determining, from sensor data compared with hoistwaymodel data, that the segment 245 is positioned outside the predeterminedpositioning and operating tolerances.

As shown in block 1030B, the method includes the controller 230 engagingthe guide rail 109 by loosening rail securing bolts, aligning the guiderail, and tightening rail securing bolts.

As shown in block 1040, the method includes the controller 230periodically or within scheduled timeframes engaging the one or morecomponents to determine that the operational parameter or the alignmentof the component is outside predetermined positioning and operatingtolerances.

As shown in block 1050, the method includes the controller defining thehoistway model data from sensed locations and shape boundaries of thehoistway and doorway openings formed in the hoistway.

As shown in block 1050A, the method includes the controller defining thehoistway model data to include sill to sill distances, guide rail toguide rail distances, sill to guide rail distances, and tilt and twistof the hoistway 117. In one embodiment the hoistway model data defines athree-dimensional model of the hoistway 117.

As shown in block 1050B, the method includes the controller 230 definingthe hoistway model data as a three-dimensional model of the hoistway117.

According to another aspect of the disclosed embodiments, the roboticplatform 220 enables best practices and enables opportunities formechanics in the field to simplify, support, and/or automate tasks andincrease overall field efficiency. The robotic platform 220 equippedwith different tools for installation and service tasks to allow forpartial or full automation of the more time-consuming procedures, forexample, guide rail installation and maintenance.

Turning to FIGS. 11-18 , different solutions for propelling the roboticplatform 220 are shown with a focus on propulsion, safety and anchoringof the robotic platform in the hoistway 117. The robotic platform 220may operate in an empty hoistway 117 from a landing, or a pit, and maymove inside the hoistway 117 using walls or dedicated ropes to move inthe hoistway 117. The robotic platform 220, equipped with tools, may beutilized for scanning/inspecting the hoistway 117, taking measurements,grinding, marking drilling points, drilling, hoisting or securing therail/door entrances within the hoistway 117. The robotic platform 220may be self-propelled or be hoisted. The guide rail 109 may be utilizedas a guide for the robotic platform 220. The robotic platform 220 may belocked in a position along the hoistway 117 using brakes on the roboticplatform 220 or on the rail 109. When there are no guide rails, therobotic platform 220 may use friction against the hoistway walls 228,228A (FIG. 4 ) to lock in place or, if available, lock against a rope.

The robotic platform 220 may be used for one or more of installation,maintenance and inspection. For example, the robotic platform 220 may beused for belt/rope monitoring, guide rail straightening, post earthquakehoistway inspection.

Benefits of the disclosed embodiments includes a decreased time tomarket a product, freeing mechanic time, competitive advantage fromlower associated costs, increased precision and extended product lifetime, increased mechanic safety, decrease of repetitive motion injuries,and allowing for a more rapid design approach.

Each propulsion system illustrated in FIGS. 11-18 may function based ondecision making that can be executed on the edge of a doorway orwirelessly (e.g., through the internet). Each propulsion system may beequipped with remote controlled safety system. Additionally there may areference system, such as a global positioning system or hoistway modeldata, utilized to assist in directing the each propulsion system.

As indicated in FIGS. 11-18 , the inspection system 200 includes therobotic platform 220 configured to inspect the hoistway 117, a platformpropulsor 255 operationally connected to the robotic platform 220, and acontroller 230 (shown only in FIG. 11 for simplicity) operationallyconnected to the platform propulsor.

Turning to FIG. 19 , a flowchart shows a method of propelling therobotic platform 220 within the hoistway 117.

As shown in block 1910, the method includes the controller 230controlling the platform propulsor 255 to propel (e.g., vertically) therobotic platform 220 within the hoistway 117.

As shown in block 1910A, the method includes the controller 230controlling friction pullies 255A (FIG. 11 ) operationally connectedbetween the robotic platform 220 and a rope 255A1 extending to amechanical room 256 atop the hoistway 117 (and the pit 225), to therebypropel the robotic platform 220.

As shown in block 1910B, the method includes the controller 230controlling vacuum suction cups 225B (FIG. 12 ) operationally connectedbetween the robotic platform 220 and hoistway side walls 228, 228A, tothereby propel the robotic platform 220.

As shown in block 1910C, the method includes the controller 230controlling rubber wheels 255C (FIG. 13 ) operationally connectedbetween the robotic platform 220 and hoistway side walls 228, 228A, tothereby propel the robotic platform 220.

As shown in block 1910D, the method includes the controller 230controlling mechanical legs 255D (FIG. 14 ; forming a spider-like set ofsupports) operationally connected between the robotic platform 220 andhoistway side walls 228, 228A, to thereby propel (e.g., by stemming) therobotic platform.

As shown in block 1910E, the method includes the controller 230controlling propellers 255E (FIG. 15 ) operationally connected to therobotic platform 220, where the robotic platform 220 is supported by aballoon 255E1, to thereby propel the robotic platform 220.

As shown in block 1910F, the method includes the controller 230controlling a rail climber 255F (FIG. 16 ) operationally connected tothe robotic platform 220, to thereby propel the robotic platform 220.

As shown in block 1910G, the method includes the controller 230controlling a rail climber 255F (FIG. 17 ) operationally connected tothe robotic platform 220, where the rail climber 255F operationallyengages a first rail 109 that is adjacent a first hoistway sidewall 228,and a balance wheel 255F1 of the rail climber 255F is operationallypositioned against a second hoistway side wall 228A, to thereby propelthe robotic platform 220.

As shown in block 1920, the method includes the controller 230controlling a drone 255G (FIG. 18 ; illustrated schematically; see therobotic platform 220 in FIG. 2 ) that is, or is operationally connectedto, the robotic platform 220, to thereby propel the robotic platform220.

As shown in block 1930, the method includes the controller 230controlling one or more controllable tools 257 (FIG. 18 ; illustratedschematically) supported on the robotic platform 220, whereby therobotic platform 220 is configured for scanning and inspecting thehoistway 117, taking measurements, grinding, marking drilling points anddrilling.

According to an addition aspect of the disclosed embodiments, andturning to FIG. 20 , the disclosed embodiments provide a mobile robot(for simplicity, a robot 260), which may also be considered a roboticplatform. The robot 260 is capable of monitoring, cleaning, adjustingelevator parameters, measuring performance and requesting maintenance ofan elevator car 103 or elevator groups in a building. The robot 260 isconfigured for performing tests using a built-in sensor implement 210,such as a camera (to monitor sill conditions, and landing alignments),an accelerometer, and/or a microphone (to monitor ride quality). Therobot 260 is able to communicate with the elevator car 103 and executeruns, emergency stops, open/close door cycles and modify basicparameters. The robot 260 may also perform measurements duringpredetermined time conditions (e.g., off peak, no passengers). The robot260 may or may not be equipped with propulsion and may or may notrequire human intervention to move between elevator cars. The inspectionsystem 200 of this embodiment may utilize a built-in or external gatewaythat is connected using different protocols for example, Bluetooth lowenergy (BLE) to a phone, and thereafter a cellular protocol such asGlobal System for Mobile Communications (GSM) to bridge the robot 260 tothe Internet.

Benefits of the disclosed embodiments include field time reduction formechanics, automated periodic testing and system adjustments, continuoussystem performance tracking, historical data base supporting CBM and thedevelopment of predictive maintenance. A competitive advantage may berealized from the decreased operational costs and increased launch andup-time.

Thus, the disclosed embodiments provide a non-propelled robot 260 toexecute maintenance tasks, e.g., as a mechanics helper. The robot 260may communicate with the elevator system 101 to place commands, as wellas support the sensor implement 210 such as a camera and a ride-qualitysensor (an accelerometer and/or microphone). The robot 260 may conductinspections and make recommendations as to daily maintenance tasks.

As indicated (FIG. 20 ) an elevator inspection system 200, configured toinspect multiple elevator cars in a group of elevator cars, is disclosedthat includes a sensor implement 210, a robot 260 supporting the sensorimplement 210 and a controller 230 operationally connected to the robotand the senor. The robot 260 is configured to be positioned in anelevator car 103.

FIG. 21 is a flowchart showing a method of performing an elevatoroperational inspection with the robot 260.

As shown in block 2110, the method includes the controller 230transmitting an alert, e.g., to a mechanic, responsive to determining,from sensor data compared with elevator operational data, that anoperational parameter of an elevator car 103 in which the robot 260 islocated is outside a predetermined threshold (where such thresholdvalues would be understood by one of ordinary skill).

As shown in block 2110A, the method includes the controller 230determining whether ride-quality is outside the predetermined threshold,to thereby determine that the operational parameter is outside thepredetermined threshold.

As shown in block 2110B, the method includes the controller 230determining whether acceleration is outside the predetermined threshold,to thereby determine that the ride-quality is outside the predeterminedthreshold.

As shown in block 2110C, the method includes the controller 230determining whether operational acoustics are outside the predeterminedthreshold, to thereby determine that the ride-quality is outside thepredetermined threshold.

As shown in block 2110D, the method includes the controller 230communicating with an elevator car control panel 270, to therebydetermine that the operational parameter is outside the predeterminedthreshold.

As shown in block 2110E, the method includes the controller instructingthe elevator car control panel to execute one or more of runs betweenlevels, emergency stops, and open/close door cycles, to therebydetermine that the operational parameter is outside the predeterminedthreshold.

As shown in block 2120, the method includes the controller 230:verifying operation of car operation panel (COP) lights; confirmingelevator car leveling accuracy; cleaning the elevator car via the robot;and/or changing elevator car controller settings to minimize effects ofa bed quality of a ride.

As shown in block 2130, the method includes the controller 230communicating with the elevator car control panel 270 over a wirelessnetwork, which may be a personal area network.

As shown in block 2140, the method includes the controller 230controlling the sensor implement to obtain the sensor data duringpredetermined periods of time and/or when the elevator car is withoutpassengers.

As shown in block 2150, the method includes the controller 230, which isonboard the robot 260, transmitting the alert to an elevator groupcontroller over a cellular network 280.

As used herein an elevator controller may be a microprocessor-basedcontroller that controls many aspects of the elevator operation. Aseries of sensor implements, controllers, sequences of operation andreal-time calculations or algorithms that balance passenger demand andcar availability. Elevator sensor implements may provide data on carpositions, car moving direction, loads, door status, hall calls, carcalls, pending up hall and down hall calls, number of runs per car,alarms, etc. The controllers may also have a function enabling thetesting the systems without shutdown of the elevator. From collecteddata, a management system consisting of a workstation and softwareapplications that may create metrics for a group or particular car suchas total number of door openings, number of runs per car or call, up anddown hall calls, etc. Some performance indicators may be related topassenger wait times and/or elevator car travel times. These metrics mayindicate inadequate controls, misconfiguration or even equipmentmalfunction. Elevator monitoring may be provided as Software as aService (SaaS). The monitoring may identify malfunctions or abnormaloperating parameters and automatically dispatch a technician and/orprovide alerts to relevant persons such as building owners. Some systemsmay provide customer dashboards accessible via a web browser and/orprovide owners with information such as performance summaries andmaintenance histories. As indicated, the elevator controller maycommunicate with the one or more elevators over a Controller AreaNetwork (CAN) bus. A CAN is a vehicle bus standard that allowmicrocontrollers and devices to communicate with each other inapplications without a host computer. CAN is a message-based protocolreleased by the International Organization for Standards (ISO).Downstream communications from the elevator system controller may beover a LAN.

As described above, embodiments can be in the form ofprocessor-implemented processes and devices for practicing thoseprocesses, such as a processor. Embodiments can also be in the form ofcomputer program code containing instructions embodied in tangiblemedia, such as network cloud storage, SD cards, flash drives, floppydiskettes, CD ROMs, hard drives, or any other computer-readable storagemedium, wherein, when the computer program code is loaded into andexecuted by a computer, the computer becomes a device for practicing theembodiments. Embodiments can also be in the form of computer programcode, for example, whether stored in a storage medium, loaded intoand/or executed by a computer, or transmitted over some transmissionmedium, loaded into and/or executed by a computer, or transmitted oversome transmission medium, such as over electrical wiring or cabling,through fiber optics, or via electromagnetic radiation, wherein, whenthe computer program code is loaded into an executed by a computer, thecomputer becomes an device for practicing the embodiments. Whenimplemented on a general-purpose microprocessor, the computer programcode segments configure the microprocessor to create specific logiccircuits.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the presentdisclosure. As used herein, the singular forms “a”, “an” and “the” areintended to include the plural forms as well, unless the context clearlyindicates otherwise. It will be further understood that the terms“comprises” and/or “comprising,” when used in this specification,specify the presence of stated features, integers, steps, operations,elements, and/or components, but do not preclude the presence oraddition of one or more other features, integers, steps, operations,element components, and/or groups thereof.

Those of skill in the art will appreciate that various exampleembodiments are shown and described herein, each having certain featuresin the particular embodiments, but the present disclosure is not thuslimited. Rather, the present disclosure can be modified to incorporateany number of variations, alterations, substitutions, combinations,sub-combinations, or equivalent arrangements not heretofore described,but which are commensurate with the scope of the present disclosure.Additionally, while various embodiments of the present disclosure havebeen described, it is to be understood that aspects of the presentdisclosure may include only some of the described embodiments.Accordingly, the present disclosure is not to be seen as limited by theforegoing description, but is only limited by the scope of the appendedclaims.

What is claimed is:
 1. An elevator system, comprising: a hoistway, anelevator inspection system disposed within the hoistway, the systemincluding: a sensor implement configured to capture sensor data, thesensor implement is any one of: a video sensor; an acoustic sensor; aLIDAR sensor; a camera; a laser sensor, a photogrammetry sensor, and atime of flight sensor; a robotic platform supporting the sensor, therobotic platform configured to inspect the hoistway, wherein the roboticplatform is a drone or a robotic arm on a platform that is operationallycoupled to guiderails; a controller operationally connected to therobotic platform and the sensor implement, the controller beingconfigured to control movement of the robotic platform in the hoistway,wherein: the controller is configured to define hoistway model data forthe hoistway, from the sensor data, corresponding to locations and shapeboundaries of the hoistway and doorway openings formed in the hoistway,wherein from the hoistway model data, the controller is configured todefine a three-dimensional hoistway model of the hoistway while therobotic platform travels in the hoistway, which includes wall to wallmeasurements including tilt and twist of the hoistway, locations andsizes of doorway openings, sill to sill distances, guide rail to guiderail distances, and sill to guide rail distances for each of the doorwayopenings, and from the hoistway model data, the controller is configuredto determine installation locations within the hoistway model data forelevator components; and the controller is configured to utilize thehoistway model data as a reference point for installing and/ormaintaining one or more components in the hoistway and for determiningmaintenance needs; ride quality; a motion profile; and door performancerequirements.
 2. The elevator system of claim 1, wherein the controlleris configured to define elevator car guide rail data, corresponding to avirtual elevator guide rail, in the hoistway model data.
 3. The elevatorsystem of claim 2, wherein the controller is configured to define aninstallation location within the hoistway model data for virtual guiderail.
 4. The elevator system of claim 1, wherein the controller isoperated manually, on SLAM (simultaneous localization and mapping),and/or on CAD (computer aided design) models.
 5. The elevator system ofclaim 1, wherein the robotic platform is a drone.
 6. A method ofdeveloping hoistway model data for a hoistway of an elevator system withan elevator inspection system of the elevator system disposed within thehoistway, the elevator inspection system including: a sensor implementconfigured to capture sensor data, the sensor implement is any one of: avideo sensor; an acoustic sensor; a LIDAR sensor; a camera; a lasersensor, a photogrammetry sensor, and a time of flight sensor; a roboticplatform supporting the sensor, the robotic platform configured toinspect the hoistway, wherein the robotic platform is a drone or arobotic arm on a platform that is operationally coupled to guiderails; acontroller operationally connected to the robotic platform and thesensor implement, the controller being configured to control movement ofthe robotic platform in the hoistway, the method comprising: defining,by the controller, the hoistway model data for the hoistway, from thesensor data, corresponding to locations and shape boundaries of theelevator hoistway shaft and doorway openings formed in the elevatorhoistway shaft, wherein the sensor data is captured from a sensorimplement that is supported by the robotic platform, wherein the roboticplatform is configured to inspect the hoistway, and wherein thecontroller controls the robotic platform and the sensor implement,defining, by the controller, a three-dimensional hoistway model of thehoistway while the robotic platform travels in the hoistway, whichincludes wall to wall measurements including tilt and twist of thehoistway, locations and sizes of doorway openings, sill to silldistances, guide rail to guide rail distances, and sill to guide raildistances for each of the doorway openings, and defining, by thecontroller from the hoistway model data, installation locations withinthe hoistway model data for elevator components, including the virtualguide rail; and utilizing the hoistway model data as a reference pointfor installing and/or maintaining one or more components in the hoistwayand for determining maintenance needs; ride quality; a motion profile;and door performance requirements.
 7. The method of claim 6, comprising:defining, by the controller, elevator car guide rail data, correspondingto a virtual elevator guide rail, in the hoistway model data.
 8. Themethod of claim 7, comprising: defining, by the controller, aninstallation location within the hoistway model data for the virtualguide rail.
 9. The method of claim 6, wherein the controller is operatedmanually, on SLAM (simultaneous localization and mapping), and/or on CAD(computer aided design) models.
 10. The method of claim 6, wherein: therobotic platform is a drone.